Shunting operation curve distance measuring system and distance measuring method

Abstract

The invention provides a shunting operation curve ranging system and ranging method, and particularly relates to the technical field of railway shunting operation, the shunting operation curve ranging system comprises a binocular camera module, a track identification module, a carriage position calculation module, a radar ranging module, an RTK high-precision positioning module, a curve ranging module and a distance notification module; the binocular camera module is used for recognizing the rail and the carriage on the rail, the parallax is used for confirming the three-dimensional world coordinates of the carriage, the rotation angle of the radar ranging module is determined according to the three-dimensional world coordinates, accurate ranging, RTK high-precision positioning and rail positioning of a high-precision map are carried out, and the positioning accuracy of the rail is improved. According to the rail road network and the distance measurement distance, the distance data between the jacked carriage and the jacked carriage on the rail is finally obtained, the jacking driver is automatically notified, the distance estimation is more accurate than the existing manual visual estimation distance, and high accuracy and high intelligence are achieved.

Description

Technical Field

[0001] The invention relates to the technical field of railway shunting operations, and in particular to a shunting operation curve distance measurement system and distance measurement method. Background Art

[0002] Train shunting is a very important part of the railway transportation system. It can ensure the safe operation of trains, improve the operating efficiency of trains, ensure that goods can arrive at the destination on time, and optimize the organization of goods on trains. Therefore, we need to continuously learn and accumulate knowledge about train shunting in order to better cope with various complex shunting situations;

[0003] The general steps of train shunting in the prior art include: determining the destination and route of shunting, arranging the work tasks of shunting personnel, checking trains and arranging the order of trains, shunting trains to the corresponding railway lines, assisting shunting through visual estimation by shunting personnel, preventing accidents during shunting, and notifying relevant departments after shunting is completed;

[0004] Train shunting plays a very important role in the railway transportation system. Efficient dispatching of trains can not only ensure the safe operation of trains and improve the operating efficiency of trains, but also optimize the arrangement of trains to accommodate the passengers or goods loaded;

[0005] However, there are still many problems in the existing shunting operations. For example, when shunting train carriages, it is difficult to accurately notify the driver of the distance between the carriage being pushed and other carriages that have been pushed in real time during the process of pushing the carriage, and the rails in the shunting operation are not completely straight. Therefore, it is impossible to achieve intelligent distance measurement by relying solely on a single distance measuring sensor. The current distance measurement method can only estimate the distance by manual visual observation and then notify the driver of the distance measurement. However, this method is not only inefficient, but also cannot accurately transmit information to the driver in real time. Therefore, there is an urgent need to optimize and improve the distance measurement method in railway shunting operations so that the shunting work of the driver can be more efficient, safe and intelligent.

[0006] CN201805511U discloses a visual system for train shunting drivers, comprising an image display module and a video capture module connected to each other, wherein: the image display module comprises a display screen for displaying images and a signal receiving module for receiving signals; the video capture module comprises a camera for capturing images and a signal transmitting module for transmitting signals; the signal transmitted by the signal transmitting module is received by the signal receiving module. The technical solution can realize the transmission of images and the transmission of sounds to the driver.

[0007] However, during the shunting operation, the above technical solution cannot accurately measure the distance between the top-delivered car and other cars that have already been top-delivered in real time. Although the above technical solution has made certain improvements based on the existing manual visual inspection, there is still much room for improvement in its efficiency, safety and intelligence.

[0008] Therefore, in view of the shortcomings of the existing technology, there is an urgent need for a shunting operation curve distance measurement system and distance measurement method, which can perform real-time and accurate curve distance measurement for shunting operations, making railway shunting operations more efficient, safe and intelligent. Summary of the invention

[0009] In order to solve the problems existing in the prior art, the present invention can provide a shunting operation curve distance measurement system and distance measurement method, which uses a binocular camera module to identify the rails and the carriages on the rails, and uses parallax to confirm the three-dimensional world coordinates of the carriages, and determines the rotation angle of the radar ranging module according to the three-dimensional world coordinates, and performs precise distance measurement, RTK high-precision positioning and high-precision map rail positioning, and finally obtains the distance data between the carriage to be pushed and the carriage that has been pushed on the rails according to the rail network and the ranging distance, so as to realize automatic notification of the pushing driver, which is more accurate than the existing manual visual distance estimation, and achieves high accuracy and high intelligence.

[0010] In order to achieve the above-mentioned object, the present invention proposes a shunting operation curve distance measurement system, including a binocular camera module, a track recognition module, a carriage position calculation module, a radar distance measurement module, an RTK high-precision positioning module, a curve distance measurement module, and a distance notification module;

[0011] The binocular camera module, radar ranging module, and RTK high-precision positioning module are all arranged in front of the carriage being transported. The binocular camera module is used to collect two sets of parallax point image data in front of the carriage being transported and transmit them to the track recognition module;

[0012] The track recognition module detects the rail path in front of the transported carriage based on the image data transmitted by the binocular camera module, and sends the rail path data and two sets of parallax point image data to the carriage position calculation module;

[0013] The carriage position calculation module can calculate the three-dimensional world coordinates of the carriage that has been pushed onto the current rail through two sets of parallax point image data and rail path data, and send the three-dimensional world coordinates of the carriage that has been pushed onto the current rail to the radar ranging module;

[0014] The radar ranging module is connected to the binocular camera module, and is used to measure the straight-line distance between the curve ranging system and the carriage that has been delivered, and send the measured data to the curve ranging module;

[0015] The RTK high-precision positioning module is connected with the binocular camera module and the radar ranging module, and the RTK high-precision positioning module is used to send the high-precision position data of the curve ranging system to the curve ranging module in real time;

[0016] The curve ranging module receives the straight-line distance between the curve ranging system and the carriage that has been delivered transmitted by the radar ranging module, and the curve ranging module receives the high-precision position of the RTK high-precision positioning module; the curve ranging module calculates the distance between the curve ranging system and the carriage that has been delivered on the rails through the received data, and sends the calculated distance result to the distance notification module.

[0017] Preferably, the method for the track recognition module to detect the rail path directly ahead is: the track recognition module selects the left image data from the two sets of parallax point image data to perform grayscale conversion to obtain a black and white image, thereby removing color interference; the track recognition module performs an erosion algorithm on the black and white image to obtain a binary image, thereby removing interference from small noise points in the image; the track recognition module uses a canny edge detection algorithm to detect the rail path directly ahead.

[0018] Preferably, the method by which the car position calculation module calculates the three-dimensional world coordinates of the car that has been pushed onto the rail is as follows: the car position calculation module selects the left image data from the two sets of parallax point image data, uses the neural network YOLO target detection algorithm to detect whether there is a car that has been pushed onto the rail path, and obtains the position of the car in the left image data. Using detection on the rail path can avoid misdetection of cars on other tracks, while reducing the amount of calculation of the YOLO target detection algorithm; the car position calculation module detects the position of the car in the right image data based on the car position of the left image data, and calculates the three-dimensional world coordinates of the car that has been pushed onto the rail based on the horizontal pixel difference of the matching points of the car and the camera calibration data of the eye camera module.

[0019] The accuracy of the three-dimensional world coordinates of the car position calculation module within a range of 100 meters is affected by the number of pixels of the binocular camera and the accuracy of the camera calibration data. There is a certain error, but it can still be used as a ranging reference for the radar ranging module.

[0020] Preferably, the distance measurement method of the radar ranging module is as follows: the radar ranging module and the binocular camera module are calibrated in advance; the radar ranging module receives the three-dimensional world coordinates of the completed carriage sent by the carriage position calculation module, and then calculates the angle between the radar ranging module and the completed carriage according to the calibrated distance between the radar ranging module and the binocular camera module and the trigonometric function formula; then the radar ranging module rotates itself to face the carriage, and then uses laser ranging technology to measure the distance to obtain the straight-line distance between the curve ranging system and the carriage.

[0021] Preferably, the high-precision positioning method of the RTK high-precision positioning module is: through the real-time dynamic differential method of RTK technology, utilizing the spatial correlation between the base station and the mobile station, eliminating satellite signal errors, and achieving centimeter-level or even millimeter-level positioning accuracy.

[0022] The use of the RTK high-precision positioning module can obtain the precise position of the curve ranging system and the transported carriage, which is used for the lane positioning of the rails of the curve ranging module.

[0023] Preferably, the method for the curve distance measurement module to calculate the distance between the curve distance measurement system and the carriage that has been delivered on the rail is as follows: the straight-line distance between the curve distance measurement system and the carriage that has been delivered is L, the distance D between the curve distance measurement system and the carriage that has been delivered on the rail is initially zero, the initial value of the position P is the high-precision position of the RTK high-precision positioning module, the curve distance measurement module queries the high-precision map according to the high-precision position to determine which rail the delivered carriage is on, the curve distance measurement module queries the coordinate P' with a distance value of L along the rail network according to the railway network of the high-precision map, and adds the distance L to the distance In D, the Euclidean distance formula is used to calculate the straight-line distance L' between the position P' and the distance measurement system, and L-L' is determined. If L-L' is less than 0.1 meters, the distance D is the distance between the curve distance measurement system and the carriage that has been delivered on the rail. If L-L' is greater than or equal to 0.1 meters, the coordinate P" with a distance value of L-L' is queried along the rail network, and the distance L-L' is added to the distance D. The straight-line distance L" between the coordinate P" and the distance measurement system is calculated. The above process is continued until LL" is less than 0.1 meters. The distance D is the distance between the curve distance measurement system and the carriage that has been delivered on the rail.

[0024] Preferably, the distance notification module can notify the top delivery driver who is working through the 4G / 5G network.

[0025] A method for measuring distance on a curve in a shunting operation comprises the following steps:

[0026] S1. Collect two sets of parallax point image data in front of the top carriage through the binocular camera module and send them to the track recognition module;

[0027] S2. The track recognition module receives two sets of parallax point image data transmitted by the binocular camera module, detects the rail path in front, and sends the rail path data and image data to the carriage position calculation module;

[0028] S3. The carriage position calculation module receives two parallax point image data and rail path data transmitted by the track recognition module, and calculates the three-dimensional world coordinates of the carriage that has been sent to the top on the current rail. The carriage position calculation module sends the three-dimensional world coordinates of the carriage to the radar ranging module;

[0029] S4. The radar ranging module is structurally bound to the binocular camera module. The radar ranging module and the binocular camera module are calibrated in advance. The radar ranging module receives the three-dimensional world coordinates of the completed carriage transmitted by the carriage position calculation module. According to the distance between the radar ranging module and the binocular camera module, the angle between the radar ranging module and the completed carriage is calculated according to the trigonometric function formula. Then the radar ranging module rotates itself to face the carriage, and uses laser technology to measure the straight-line distance to obtain the distance between the curve ranging system and the carriage. The radar ranging module sends the distance data to the curve ranging module.

[0030] The S5.RTK high-precision positioning module is deployed together with the radar ranging module and the binocular camera module in front of the carriage being transported. Through the real-time dynamic difference method of RTK technology and the spatial correlation between the base station and the mobile station, the satellite signal error is eliminated to achieve centimeter-level or even millimeter-level positioning accuracy; the RTK high-precision positioning module sends the high-precision position of the curve ranging system to the curve ranging module in real time;

[0031] S6. The curve ranging module receives the distance between the curve ranging system and the carriage that has been sent to the top on the rail transmitted by the radar ranging module, and the curve ranging module receives the high-precision position of the road ranging system transmitted by the RTK high-precision positioning module. The curve ranging module further calculates the distance between the curve ranging system and the carriage that has been sent to the top on the rail through the received data, and the curve ranging module sends the calculated distance result to the distance notification module;

[0032] S7. The distance notification module receives the distance between the curve distance measurement system and the carriage that has been pushed onto the rails transmitted by the curve distance measurement module, and notifies the driver who is working on the push-on operation through the 4G / 5G network.

[0033] Compared with the prior art, the present invention has the following beneficial effects:

[0034] The present invention can provide a shunting operation curve distance measurement system and distance measurement method, which uses a binocular camera module to identify the rails and the carriages on the rails, and uses parallax to confirm the three-dimensional world coordinates of the carriages, and determines the rotation angle of the radar distance measurement module according to the three-dimensional world coordinates, and performs precise distance measurement, RTK high-precision positioning and rail positioning of high-precision maps, and finally obtains the distance data between the carriage to be pushed and the carriage that has been pushed on the rails according to the rail network and the ranging distance, so as to realize automatic notification of the pushing driver, which is more accurate than the existing manual visual distance estimation, and realizes high accuracy and high intelligence. BRIEF DESCRIPTION OF THE DRAWINGS

[0035] In order to more clearly illustrate the specific implementation methods of the present invention or the technical solutions in the prior art, the drawings required for use in the specific implementation methods or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are some implementation methods of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0036] Figure 1 A schematic diagram of the working principle of a shunting operation curve distance measurement system of the present invention;

[0037] Figure 2 A schematic diagram of the steps of a method for measuring distance on a curve for shunting operation according to the present invention;

[0038] Among them, as shown in the figure: binocular camera module 1, track recognition module 2, car position calculation module 3, radar ranging module 4, RTK high-precision positioning module 5, curve ranging module 6, distance notification module 7. DETAILED DESCRIPTION

[0039] In order to make the purpose, technical scheme and advantages of the embodiments of the present invention clearer, the technical scheme in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. The components of the embodiments of the present invention generally described and shown in the drawings here can be arranged and designed in various different configurations. Therefore, the following detailed description of the embodiments of the present invention provided in the drawings is not intended to limit the scope of the claimed invention, but merely represents selected embodiments of the present invention. Based on the embodiments in the present invention, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the present invention.

[0040] Embodiment 1

[0041] like Figure 1 As shown, this embodiment proposes a shunting operation curve distance measurement system, including a binocular camera module 1, a track recognition module 2, a carriage position calculation module 3, a radar distance measurement module 4, an RTK high-precision positioning module 5, a curve distance measurement module 6, and a distance notification module 7;

[0042] The binocular camera module 1, the radar ranging module 4, and the RTK high-precision positioning module 5 are all arranged in front of the carriage being transported. The binocular camera module 1 is used to collect two sets of parallax point image data in front of the carriage being transported and transmit them to the track recognition module 2;

[0043] The track recognition module 2 detects the rail path in front of the transported carriage according to the image data transmitted by the binocular camera module 1, and sends the rail path data and two sets of parallax point image data to the carriage position calculation module 3;

[0044] The carriage position calculation module 3 can calculate the three-dimensional world coordinates of the carriage that has been pushed onto the current rail through two sets of parallax point image data and rail path data, and send the three-dimensional world coordinates of the carriage that has been pushed onto the current rail to the radar ranging module 4;

[0045] The radar distance measurement module 4 is connected to the binocular camera module 1, and is used to measure the straight-line distance between the curve distance measurement system and the carriage that has been delivered, and send the measured data to the curve distance measurement module 6;

[0046] The RTK high-precision positioning module 5 is connected with the binocular camera module 1 and the radar ranging module 4. The RTK high-precision positioning module 5 is used to send the high-precision position data of the curve ranging system to the curve ranging module 6 in real time;

[0047] The curve distance measurement module 6 calculates the distance between the curve distance measurement system and the carriage that has been pushed on the rails through the received data, and sends the calculated distance result to the distance notification module 7.

[0048] The method for the track recognition module 2 to detect the rail path directly in front is: the track recognition module 2 selects the left image data from the two images with parallax points for grayscale conversion to obtain a black and white image, thereby removing color interference; the track recognition module 2 performs an erosion algorithm on the black and white image to obtain a binary image, thereby removing interference from small noise points in the image; the track recognition module 2 uses a canny edge detection algorithm to detect the rail path directly in front.

[0049] The method by which the carriage position calculation module 3 calculates the three-dimensional world coordinates of the carriage that has been pushed onto the rail is as follows: the carriage position calculation module 3 selects the left image data from the two sets of parallax point image data, uses the neural network YOLO target detection algorithm to detect whether there is a carriage that has been pushed onto the rail path, and obtains the position of the carriage in the left image data; the carriage position calculation module 3 detects the position of the carriage in the right image data based on the carriage position in the left image data, and calculates the three-dimensional world coordinates of the carriage that has been pushed onto the rail based on the horizontal pixel difference of the matching points of the carriage and the camera calibration data of the eye camera module 1.

[0050] The accuracy of the three-dimensional world coordinates of the car position calculation module 3 within a range of 100 meters is affected by the number of pixels of the binocular camera and the accuracy of the camera calibration data. There is a certain error, but it can still be used as a ranging reference for the radar ranging module.

[0051] The distance measurement method of the radar ranging module 4 is as follows: the radar ranging module 4 and the binocular camera module 1 are calibrated in advance; the radar ranging module 4 receives the three-dimensional world coordinates of the completed carriage sent by the carriage position calculation module 3, and then calculates the angle between the radar ranging module 4 and the completed carriage according to the calibrated distance between the radar ranging module 4 and the binocular camera module 1 and the trigonometric function formula; then the radar ranging module 4 rotates itself to face the carriage, and then uses laser ranging technology to measure the distance to obtain the straight-line distance between the curve ranging system and the carriage.

[0052] The RTK high-precision positioning module 5 has a high-precision positioning method: through the RTK technology real-time dynamic difference method, using the spatial correlation between the reference station and the mobile station, eliminating satellite signal errors, and achieving centimeter-level or even millimeter-level positioning accuracy.

[0053] The use of the RTK high-precision positioning module 5 can obtain the precise position of the curve distance measurement system and the transported carriage, which is used for the lane positioning of the railroad track of the curve distance measurement module.

[0054] The method for the curve distance measurement module 6 to calculate the distance between the curve distance measurement system and the carriage that has been jacked up is as follows: assuming that the straight-line distance between the curve distance measurement system and the carriage that has been jacked up is L, assuming that the distance D between the curve distance measurement system and the carriage that has been jacked up on the rail is initially zero, and the initial value of the position P is the high-precision position of the RTK high-precision positioning module 5. The curve distance measurement module 6 queries the high-precision map according to the high-precision position to determine which rail the jacked carriage is on. The curve distance measurement module 6 queries the coordinate P' with a distance value of L along the rail network according to the railway network of the high-precision map, and adds the distance L to the distance In D, the Euclidean distance formula is used to calculate the straight-line distance L' between the position P' and the distance measurement system, and L-L' is determined. If L-L' is less than 0.1 meters, the distance D is the distance between the curve distance measurement system and the carriage that has been delivered on the rail. If L-L' is greater than or equal to 0.1 meters, the coordinate P" with a distance value of L-L' is queried along the rail network, and the distance L-L' is added to the distance D. The straight-line distance L" between the coordinate P" and the distance measurement system is calculated. The above process is continued until LL" is less than 0.1 meters. The distance D is the distance between the curve distance measurement system and the carriage that has been delivered on the rail.

[0055] The distance notification module 7 can notify the top delivery driver who is working through the 4G / 5G network.

[0056] This embodiment uses a binocular camera module 1 to identify the rails and the carriages on the rails, and uses parallax to confirm the three-dimensional world coordinates of the carriage. The rotation angle of the radar ranging module 4 is determined according to the three-dimensional world coordinates to perform precise distance measurement, RTK high-precision positioning and rail positioning with high-precision maps. According to the rail network and the measuring distance, the distance data between the carriage to be pushed and the carriage that has been pushed on the rails is finally obtained, and the driver of the push-up is automatically notified. This is more accurate than the existing manual visual distance estimation, and achieves high accuracy and high intelligence.

[0057] Embodiment 2

[0058] like Figure 2 As shown, this embodiment provides a method for measuring distance on a curve for shunting operations, comprising the following steps:

[0059] S1. The binocular camera module 1 collects two images of parallax points in front of the top carriage and sends them to the track recognition module 2;

[0060] S2. Track recognition module 2 receives two copies of parallax point image data transmitted by binocular camera module 1, detects the rail path in front, and sends the rail path data and image data to the carriage position calculation module 3;

[0061] S3. The carriage position calculation module 3 receives two parallax point image data and rail path data transmitted by the track identification module 2, and calculates the three-dimensional world coordinates of the carriage that has been sent to the top of the current rail. The carriage position calculation module 3 sends the three-dimensional world coordinates of the carriage to the radar ranging module 4;

[0062] S4. The radar ranging module 4 is structurally bound to the binocular camera module 1. The radar ranging module 4 and the binocular camera module 1 are calibrated in advance. The radar ranging module 4 receives the three-dimensional world coordinates of the completed carriage transmitted by the carriage position calculation module 3. According to the distance between the radar ranging module 4 and the binocular camera module 1, the angle between the radar ranging module 4 and the completed carriage is calculated according to the trigonometric function formula. Then, the radar ranging module 4 rotates itself to face the carriage, and uses laser technology to measure the straight-line distance to obtain the distance between the curve ranging system and the carriage; the radar ranging module 4 sends the distance data to the curve ranging module 6;

[0063] S5. The RTK high-precision positioning module 5 is deployed together with the radar ranging module 4 and the binocular camera module 1 in front of the carriage being transported. Through the real-time dynamic difference method of RTK technology, the spatial correlation between the base station and the mobile station is used to eliminate the satellite signal error and achieve centimeter-level or even millimeter-level positioning accuracy; the RTK high-precision positioning module 5 sends the high-precision position of the curve ranging system to the curve ranging module 6 in real time;

[0064] S6. The curve ranging module 6 receives the distance between the curve ranging system and the carriage that has been sent to the top on the rail transmitted by the radar ranging module 4, and the curve ranging module 6 receives the high-precision position of the road ranging system transmitted by the RTK high-precision positioning module 5. The curve ranging module 6 further calculates the distance between the curve ranging system and the carriage that has been sent to the top on the rail through the received data, and the curve ranging module 6 sends the calculated distance result to the distance notification module 7;

[0065] S7. The distance notification module 7 receives the distance between the curve distance measurement system and the carriage that has been pushed onto the rails transmitted by the curve distance measurement module 6, and notifies the driver who is working on the push-on operation through the 4G / 5G network.

[0066] Of course, the above description is only a specific embodiment of the present invention and is not intended to limit the scope of implementation of the present invention. All equivalent changes or modifications made according to the structure, characteristics and principles described in the patent application scope of the present invention should be included in the patent application scope of the present invention.

[0067] Finally, it should be noted that the above-described embodiments are only specific implementations of the present invention, which are used to illustrate the technical solutions of the present invention, rather than to limit them. The protection scope of the present invention is not limited thereto. Although the present invention is described in detail with reference to the above-described embodiments, ordinary technicians in the field should understand that any technician familiar with the technical field can still modify the technical solutions recorded in the above-described embodiments within the technical scope disclosed by the present invention, or can easily think of changes, or make equivalent replacements for some of the technical features therein; and these modifications, changes or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of the present invention, and should be included in the protection scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.

Claims

1. A shunting operation curve distance measurement system, characterized in that: It includes a binocular camera module (1), a track identification module (2), a carriage position calculation module (3), a radar distance measurement module (4), an RTK high-precision positioning module (5), a curve distance measurement module (6), and a distance notification module (7); The binocular camera module (1), the radar distance measurement module (4), and the RTK high-precision positioning module (5) are all arranged in front of the carriage being transported, and the binocular camera module (1) is used to collect two sets of parallax point image data in front of the carriage being transported and transmit them to the track recognition module (2); The track recognition module (2) detects the rail path in front of the transported carriage based on the image data transmitted by the binocular camera module (1), and sends the rail path data and two sets of parallax point image data to the carriage position calculation module (3); The carriage position calculation module (3) can calculate the three-dimensional world coordinates of the carriage that has been pushed onto the current rail through two sets of parallax point image data and rail path data, and send the three-dimensional world coordinates of the carriage that has been pushed onto the current rail to the radar distance measurement module (4); The radar distance measurement module (4) is connected to the binocular camera module (1), and the radar distance measurement module (4) is used to measure the straight-line distance between the curve distance measurement system and the carriage that has been delivered, and send the measured data to the curve distance measurement module (6); The RTK high-precision positioning module (5) is connected to the binocular camera module (1) and the radar ranging module (4), and the RTK high-precision positioning module (5) is used to send high-precision position data of the curve ranging system to the curve ranging module (6) in real time; The curve distance measurement module (6) calculates the distance between the curve distance measurement system and the carriage that has been pushed on the rails through the received data, and sends the calculated distance result to the distance notification module (7).

2. A shunting operation curve distance measurement system according to claim 1, characterized in that: The method for the track recognition module (2) to detect the path of the railroad track in front is as follows: the track recognition module (2) selects the left image data from the two sets of parallax point image data to perform grayscale conversion to obtain a black and white image, thereby removing color interference; the track recognition module (2) performs an erosion algorithm on the black and white image to obtain a binary image, thereby removing interference from small noise points in the image; and the track recognition module (2) detects the path of the railroad track in front using a canny edge detection algorithm.

3. A shunting operation curve distance measurement system according to claim 1, characterized in that: The method for the carriage position calculation module (3) to calculate the three-dimensional world coordinates of the carriage that has been pushed onto the rail is as follows: the carriage position calculation module (3) selects the left image data from the two sets of parallax point image data, uses the neural network YOLO target detection algorithm to detect whether there is a carriage that has been pushed onto the rail path, and obtains the position of the carriage in the left image data; the carriage position calculation module (3) detects the position of the carriage in the right image data based on the carriage position in the left image data, and calculates the three-dimensional world coordinates of the carriage that has been pushed onto the rail based on the horizontal pixel difference of the matching points of the carriage and the camera calibration data of the eye camera module (1).

4. A shunting operation curve distance measurement system according to claim 1, characterized in that: The distance measurement method of the radar distance measurement module (4) is as follows: the radar distance measurement module (4) and the binocular camera module (1) are calibrated in advance; the radar distance measurement module (4) receives the three-dimensional world coordinates of the carriage that has been delivered sent by the carriage position calculation module (3), and then calculates the angle between the radar distance measurement module (4) and the carriage that has been delivered according to the calibrated distance between the radar distance measurement module (4) and the binocular camera module (1) according to the trigonometric function formula; then the radar distance measurement module (4) rotates itself to face the carriage, and then uses the laser distance measurement technology to measure the distance, so as to obtain the straight-line distance between the curve distance measurement system and the carriage.

5. A shunting operation curve distance measurement system according to claim 1, characterized in that: The RTK high-precision positioning module (5) has a high-precision positioning method that uses the RTK technology real-time dynamic difference method to eliminate satellite signal errors using the spatial correlation between the base station and the mobile station, thereby achieving centimeter-level or even millimeter-level positioning accuracy.

6. A shunting operation curve distance measurement system according to claim 1, characterized in that: The method for the curve distance measurement module (6) to calculate the distance between the curve distance measurement system and the carriage that has been pushed on the rail is as follows: the straight-line distance between the curve distance measurement system and the carriage that has been pushed on is set as L, the distance D between the curve distance measurement system and the carriage that has been pushed on the rail is set as zero initially, the initial value of the position P is the high-precision position of the RTK high-precision positioning module (5), the curve distance measurement module (6) queries the high-precision map according to the high-precision position to determine which rail the pushed carriage is on, the curve distance measurement module (6) queries the coordinate P' with a distance value of L along the rail network according to the railway network of the high-precision map, and adds the distance L to the coordinate P'. Enter it into the distance D, use the Euclidean distance formula to calculate the straight-line distance L' between the position P' and the distance measurement system, and judge L-L'. If L-L' is less than 0.1 meters, the distance D is the distance between the curve distance measurement system and the car that has been delivered on the rail. If L-L' is greater than or equal to 0.1 meters, query the coordinate P" with a distance value of L-L' along the rail network, add the distance L-L' to the distance D, calculate the straight-line distance L" between the coordinate P" and the distance measurement system, and continue the above process until LL" is less than 0.1 meters. The distance D is the distance between the curve distance measurement system and the car that has been delivered on the rail.

7. A shunting operation curve distance measurement system according to claim 1, characterized in that: The distance notification module (7) can notify the top delivery driver who is working through the 4G / 5G network.

8. A method for measuring distance on a curve in a shunting operation, based on a system for measuring distance on a curve in a shunting operation as claimed in any one of claims 1 to 7, characterized in that: The steps include: S1. The binocular camera module (1) collects two sets of parallax point image data in front of the top carriage and sends them to the track recognition module (2); S2. The track recognition module (2) receives two sets of parallax point image data transmitted by the binocular camera module (1), detects the rail path in front, and sends the rail path data and image data to the carriage position calculation module (3); S3. The carriage position calculation module (3) receives two sets of parallax point image data and rail path data transmitted by the track identification module (2), calculates the three-dimensional world coordinates of the carriage that has been sent to the top of the current rail, and the carriage position calculation module (3) sends the three-dimensional world coordinates of the carriage to the radar ranging module (4); S4. The radar ranging module (4) and the binocular camera module (1) are structurally bound. The radar ranging module (4) and the binocular camera module (1) are calibrated in advance. The radar ranging module (4) receives the three-dimensional world coordinates of the carriage that has been delivered transmitted by the carriage position calculation module (3). According to the distance between the radar ranging module (4) and the binocular camera module (1), the angle between the radar ranging module (4) and the carriage that has been delivered is calculated according to the trigonometric function formula. Then, the radar ranging module (4) rotates itself to face the carriage and uses laser technology to measure the straight-line distance to obtain the distance between the curve ranging system and the carriage. The radar ranging module (4) sends the distance data to the curve ranging module (6); S5. The RTK high-precision positioning module (5) is deployed together with the radar ranging module (4) and the binocular camera module (1) in front of the carriage being transported. The RTK technology real-time dynamic difference method is used to eliminate satellite signal errors and achieve centimeter-level or even millimeter-level positioning accuracy by utilizing the spatial correlation between the base station and the mobile station. The RTK high-precision positioning module (5) sends the high-precision position of the curve ranging system to the curve ranging module (6) in real time. S6. The curve distance measurement module (6) receives the distance between the curve distance measurement system and the carriage that has been delivered on the rail transmitted by the radar distance measurement module (4), and the curve distance measurement module (6) receives the high-precision position of the distance measurement system transmitted by the RTK high-precision positioning module (5). The curve distance measurement module (6) further calculates the distance between the curve distance measurement system and the carriage that has been delivered on the rail based on the received data, and the curve distance measurement module (6) sends the calculated distance result to the distance notification module (7); S7. The distance notification module (7) receives the distance between the curve distance measurement system and the carriage that has been pushed onto the rails transmitted by the curve distance measurement module (6), and notifies the driver who is working on the push-on operation through the 4G / 5G network.

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